Yes, you're right with Adrian Belew.
As for this setlist: http://www.setlist.fm/setlist/king-crimson/1996/palacio-de-congresos-madrid-spain-bd7ad26.html
Are you sure, that it was Larks' Tongues in Aspic Part 1. As it would be the only live performance since 1996!
Hope one day Fripp will bring it out.